#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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#
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#    this list of conditions and the following disclaimer.
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from dynamic_reconfigure.parameter_generator_catkin import (
    ParameterGenerator,
    double_t,
)

gen = ParameterGenerator()

grippers = ('left_gripper', 'right_gripper')

params = (
    '_timeout', '_goal', '_velocity', '_moving_force', '_holding_force',
    '_vacuum_threshold', '_blow_off',
    )

msg = (
    " - Timeout (Seconds) to achieve command or determined gripping",
    " - Electric Gripper - Maximum final error",
    " - Electric Gripper - Velocity",
    " - Electric Gripper - Force threshold. Grip achieved when surpassed.",
    " - Electric Gripper - Holding force applied when gripping/after motion.",
    " - Suction Gripper - Vacuum threshold. Grip achieved when surpassed.",
    " - Suction Gripper - When suction ceased, seconds of blown air.",
    )
min = (-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
default = (5.0, 5.0, 50.0, 40.0, 30.0, 18.0, 0.0)
max = (20.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0)

for gripper in grippers:
    for idx, param in enumerate(params):
        gen.add(
            gripper + param, double_t, 0, gripper + msg[idx],
            default[idx], min[idx], max[idx]
            )

exit(gen.generate('baxter_interface', '', 'GripperActionServer'))
